Ingredients

• 1 cup warm whole milk
• 1/3 cup granulated sugar
• 6 tablespoons unsalted butter, melted
• 1 teaspoon kosher salt
• one .25-ounce package active dry yeast
• 2 large eggs
• 4 cups all-purpose flour, plus more for dusting
• vegetable oil, for the bowl
• 6 tablespoons unsalted butter, softened, plus more for the baking dish
• 3/4 cup light brown sugar
• 2 tablespoons ground cinnamon
• 1 cup chopped toasted pecans, optional
• 1/2 cup raisins, optional
• 2 cups confectioners' sugar
• 2 tablespoons unsalted butter, melted
• 1/2 teaspoon vanilla extract
• 4 tablespoons milk, plus more as needed